/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000
 *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
 *                   
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

/* 
 * robot_params.cc 
 *
 * ActivMedia robot parameters, automatically generated by saphconv.tcl from 
 * Saphira parameter files:
 *    /Users/gerkey/Desktop/params/params/amigo-sh.p
 *    /Users/gerkey/Desktop/params/params/amigo.p
 *    /Users/gerkey/Desktop/params/params/arnl.p
 *    /Users/gerkey/Desktop/params/params/default-arnl.p
 *    /Users/gerkey/Desktop/params/params/default-sonarnl.p
 *    /Users/gerkey/Desktop/params/params/p2at.p
 *    /Users/gerkey/Desktop/params/params/p2at8+.p
 *    /Users/gerkey/Desktop/params/params/p2at8.p
 *    /Users/gerkey/Desktop/params/params/p2ce.p
 *    /Users/gerkey/Desktop/params/params/p2d8+.p
 *    /Users/gerkey/Desktop/params/params/p2d8.p
 *    /Users/gerkey/Desktop/params/params/p2de.p
 *    /Users/gerkey/Desktop/params/params/p2df.p
 *    /Users/gerkey/Desktop/params/params/p2dx.p
 *    /Users/gerkey/Desktop/params/params/p2it.p
 *    /Users/gerkey/Desktop/params/params/p2pb.p
 *    /Users/gerkey/Desktop/params/params/p2pp.p
 *    /Users/gerkey/Desktop/params/params/p3at-sh.p
 *    /Users/gerkey/Desktop/params/params/p3at.p
 *    /Users/gerkey/Desktop/params/params/p3atiw-sh.p
 *    /Users/gerkey/Desktop/params/params/p3dx-sh.p
 *    /Users/gerkey/Desktop/params/params/p3dx.p
 *    /Users/gerkey/Desktop/params/params/patrolbot-sh.p
 *    /Users/gerkey/Desktop/params/params/peoplebot-sh.p
 *    /Users/gerkey/Desktop/params/params/perfpb+.p
 *    /Users/gerkey/Desktop/params/params/perfpb.p
 *    /Users/gerkey/Desktop/params/params/pion1m.p
 *    /Users/gerkey/Desktop/params/params/pion1x.p
 *    /Users/gerkey/Desktop/params/params/pionat.p
 *    /Users/gerkey/Desktop/params/params/powerbot-sh.p
 *    /Users/gerkey/Desktop/params/params/powerbot.p
 *    /Users/gerkey/Desktop/params/params/psos1m.p
 *    /Users/gerkey/Desktop/params/params/psos1x.p
 *    /Users/gerkey/Desktop/params/params/psos43m.p
 *    /Users/gerkey/Desktop/params/params/sonarnl.p
 *    /Users/gerkey/Desktop/params/params/wheelchair-sh.p
*/
#include "robot_params.h"


RobotParams_t amigo_sh_params = 
{
  0,
  0,
  0,
  0.001534,
  0,
  0,
  "Pioneer",
  0,
  0,
  0.011,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1.626,
  1,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  0,
  "0",
  0,
  300,
  0,
  0,
  1000,
  0,
  0,
  0,
  0,
  5,
  5,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  120,
  330,
  160,
  170,
  180,
  279,
  0,
  0,
  0,
  0,
  0,
  1,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  8,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "amigo-sh",
  0,
  38400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  20,
  1,
  0,
  {
    { 70, 100, 90 },
    { 125, 75, 41 },
    { 144, 30, 15 },
    { 144, -30, -15 },
    { 120, -75, -41 },
    { 70, -100, -90 },
    { -146, -58, -145 },
    { -146, 58, 145 },
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t amigo_params = 
{
  0,
  0,
  0,
  0.001534,
  0,
  0,
  "Pioneer",
  0,
  0,
  0.011,
  0,
  0.5083,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1.626,
  1,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  0,
  "0",
  0,
  300,
  0,
  0,
  1000,
  0,
  0,
  0,
  0,
  5,
  5,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  120,
  330,
  160,
  170,
  180,
  279,
  0,
  0,
  0,
  0,
  0,
  1,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  8,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "amigo",
  0,
  38400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  20,
  0.6154,
  0,
  {
    { 76, 100, 90 },
    { 125, 75, 41 },
    { 150, 30, 15 },
    { 150, -30, -15 },
    { 125, -75, -41 },
    { 76, -100, -90 },
    { -140, -58, -145 },
    { -140, 58, 145 },
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t arnl_params = 
{
  0,
  10,
  10,
  0,
  0,
  10,
  "0",
  1,
  2000,
  0,
  0.33,
  0,
  0.1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  45,
  300,
  300,
  2000,
  0,
  100,
  1000,
  100,
  0,
  10,
  200,
  1000,
  33,
  33,
  33,
  250,
  0.4,
  200,
  200,
  1,
  100,
  0,
  0,
  50,
  50,
  50,
  0.8,
  0,
  0,
  0,
  15,
  200,
  200,
  0.05,
  0.0025,
  0.05,
  0,
  "0",
  "0",
  0,
  0,
  0,
  0,
  0,
  1000,
  "",
  0.75,
  0,
  100,
  750,
  0,
  200,
  0,
  1,
  8,
  0,
  0,
  2000,
  1,
  5,
  0.2,
  0.1,
  10,
  0.2,
  1e-06,
  1,
  10,
  10,
  1,
  10,
  10,
  1,
  637.5,
  106.25,
  1,
  100,
  100,
  0,
  0,
  0,
  1000,
  45,
  32000,
  10000,
  0,
  0,
  2,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  8,
  0.9,
  0,
  0,
  1000,
  100,
  100,
  2,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  3,
  50,
  45,
  150,
  30,
  400,
  400,
  "0",
  1000,
  0,
  0,
  0,
  0,
  0,
  0,
  0.5,
  5,
  200,
  10000,
  0,
  0,
  0,
  1,
  1,
  1,
  0,
  0,
  0.1,
  {
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t default_arnl_params = 
{
  0,
  10,
  10,
  0,
  0,
  10,
  "0",
  1,
  2000,
  0,
  0.33,
  0,
  0.1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  45,
  300,
  300,
  2000,
  0,
  100,
  1000,
  100,
  0,
  10,
  200,
  1000,
  33,
  33,
  33,
  250,
  0.4,
  200,
  200,
  1,
  100,
  0,
  0,
  50,
  50,
  50,
  0.8,
  0,
  0,
  0,
  15,
  200,
  200,
  0.05,
  0.0025,
  0.05,
  0,
  "0",
  "0",
  0,
  0,
  0,
  0,
  0,
  1000,
  "",
  0.75,
  0,
  100,
  750,
  0,
  200,
  0,
  1,
  8,
  0,
  0,
  2000,
  1,
  5,
  0.2,
  0.1,
  10,
  0.2,
  1e-06,
  1,
  10,
  10,
  1,
  10,
  10,
  1,
  637.5,
  106.25,
  1,
  100,
  100,
  0,
  0,
  0,
  1000,
  45,
  32000,
  10000,
  0,
  0,
  2,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  8,
  0.9,
  0,
  0,
  1000,
  100,
  100,
  2,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  3,
  50,
  45,
  150,
  30,
  400,
  400,
  "0",
  1000,
  0,
  0,
  0,
  0,
  0,
  0,
  0.5,
  5,
  200,
  10000,
  0,
  0,
  0,
  1,
  1,
  1,
  0,
  0,
  0.1,
  {
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t default_sonarnl_params = 
{
  0,
  10,
  10,
  0,
  0,
  10,
  "0",
  1,
  2000,
  0,
  0,
  0,
  0.1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  45,
  300,
  300,
  2000,
  0,
  100,
  1000,
  100,
  0,
  10,
  200,
  1000,
  33,
  33,
  33,
  250,
  0.4,
  200,
  200,
  1,
  0,
  0,
  0,
  50,
  50,
  50,
  0.8,
  0,
  0,
  0,
  15,
  200,
  200,
  0.05,
  0.0025,
  0.05,
  0,
  "0",
  "0",
  0,
  0,
  0,
  0,
  0,
  1000,
  "",
  0.75,
  0,
  100,
  750,
  0,
  200,
  0,
  1,
  8,
  0,
  0,
  2000,
  1,
  5,
  0.2,
  0,
  10,
  0.1,
  0.9,
  2,
  100,
  100,
  1,
  10,
  10,
  1,
  637.5,
  106.25,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  2,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  8,
  0,
  0,
  0,
  1000,
  100,
  100,
  2,
  1,
  30,
  0.6,
  0.8,
  15,
  2e-05,
  5e-05,
  2000,
  100,
  0,
  100,
  30,
  3,
  50,
  45,
  150,
  30,
  400,
  400,
  "0",
  1000,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  5,
  200,
  10000,
  0,
  0,
  0,
  1,
  0,
  1,
  0,
  0,
  0.1,
  {
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t p2at_params = 
{
  0,
  0,
  0,
  0.001534,
  0,
  0,
  "Pioneer",
  0,
  0,
  0.0034,
  0,
  1.32,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1.626,
  1,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  160,
  7,
  0,
  "0",
  0,
  300,
  0,
  0,
  1200,
  0,
  0,
  0,
  0,
  5,
  5,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0.268,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  120,
  626,
  313,
  313,
  500,
  505,
  0,
  0,
  0,
  0,
  0,
  1,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  16,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "p2at",
  0,
  38400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  20,
  1,
  0,
  {
    { 147, 136, 90 },
    { 193, 119, 50 },
    { 227, 79, 30 },
    { 245, 27, 10 },
    { 245, -27, -10 },
    { 227, -79, -30 },
    { 193, -119, -50 },
    { 147, -136, -90 },
    { -144, -136, -90 },
    { -189, -119, -130 },
    { -223, -79, -150 },
    { -241, -27, -170 },
    { -241, 27, 170 },
    { -223, 79, 150 },
    { -189, 119, 130 },
    { -144, 136, 90 },
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t p2at8plus_params = 
{
  0,
  0,
  0,
  0.001534,
  0,
  0,
  "Pioneer",
  0,
  0,
  0.0034,
  0,
  0.465,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1.626,
  1,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "",
  "COM3",
  0,
  1,
  0,
  160,
  7,
  0,
  "0",
  0,
  300,
  0,
  0,
  1200,
  0,
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RobotParams_t p2at8_params = 
{
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};

RobotParams_t p2ce_params = 
{
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};

RobotParams_t p2d8plus_params = 
{
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t p2d8_params = 
{
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t p2de_params = 
{
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t p2df_params = 
{
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};

RobotParams_t p2dx_params = 
{
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RobotParams_t p2it_params = 
{
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};

RobotParams_t p2pb_params = 
{
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    { 0, 0, 0, 0, 0 },
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};

RobotParams_t p2pp_params = 
{
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};

RobotParams_t p3at_sh_params = 
{
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};

RobotParams_t p3at_params = 
{
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};

RobotParams_t p3atiw_sh_params = 
{
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RobotParams_t p3dx_sh_params = 
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RobotParams_t p3dx_params = 
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RobotParams_t patrolbot_sh_params = 
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RobotParams_t peoplebot_sh_params = 
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RobotParams_t perfpbplus_params = 
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RobotParams_t perfpb_params = 
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    { 114, 119, 50 },
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    { 166, -27, -10 },
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    { 0, 0, 0, 0, 0 },
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};

RobotParams_t pion1m_params = 
{
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    { 100, -100, -90 },
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t pion1x_params = 
{
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    { 120, -80, -30 },
    { 100, -100, -90 },
  },
  {
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    { 0, 0, 0, 0, 0 },
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t pionat_params = 
{
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    { 120, -80, -30 },
    { 100, -100, -90 },
  },
  {
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t powerbot_sh_params = 
{
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    { 320, 96, 15 },
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  },
  {
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    { 0, 0, 0, 0, 0 },
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t powerbot_params = 
{
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    { -447, -153, -155 },
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    { -298, 278, 90 },
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  {
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
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};

RobotParams_t psos1m_params = 
{
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    { 100, -100, -90 },
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  {
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    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t psos1x_params = 
{
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  0,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  0,
  "0",
  0,
  100,
  0,
  0,
  400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0.1734,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  90,
  500,
  0,
  0,
  220,
  400,
  0,
  0,
  100,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  7,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "psos1x",
  0,
  0,
  0,
  0,
  0,
  400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  4,
  2.5332,
  0,
  {
    { 100, 100, 90 },
    { 120, 80, 30 },
    { 130, 40, 15 },
    { 130, 0, 0 },
    { 130, -40, -15 },
    { 120, -80, -30 },
    { 100, -100, -90 },
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t psos43m_params = 
{
  0,
  0,
  0,
  0.0061359,
  0,
  0,
  "Pioneer",
  0,
  0,
  0.00333333,
  0,
  0.05066,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1.626,
  0,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "",
  "",
  0,
  1,
  0,
  0,
  0,
  0,
  "0",
  0,
  100,
  0,
  0,
  400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0.1734,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  90,
  500,
  0,
  0,
  220,
  400,
  0,
  0,
  100,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  7,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "psos43m",
  0,
  0,
  0,
  0,
  0,
  400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  4,
  2.5332,
  0,
  {
    { 100, 100, 90 },
    { 120, 80, 30 },
    { 130, 40, 15 },
    { 130, 0, 0 },
    { 130, -40, -15 },
    { 120, -80, -30 },
    { 100, -100, -90 },
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t sonarnl_params = 
{
  0,
  10,
  10,
  0,
  0,
  10,
  "0",
  1,
  2000,
  0,
  0,
  0,
  0.1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  45,
  300,
  300,
  2000,
  0,
  100,
  1000,
  100,
  0,
  10,
  200,
  1000,
  33,
  33,
  33,
  250,
  0.4,
  200,
  200,
  1,
  0,
  0,
  0,
  50,
  50,
  50,
  0.8,
  0,
  0,
  0,
  15,
  200,
  200,
  0.05,
  0.0025,
  0.05,
  0,
  "0",
  "0",
  0,
  0,
  0,
  0,
  0,
  1000,
  "",
  0.75,
  0,
  100,
  750,
  0,
  200,
  0,
  1,
  8,
  0,
  0,
  2000,
  1,
  5,
  0.2,
  0,
  10,
  0.1,
  0.9,
  2,
  100,
  100,
  1,
  10,
  10,
  1,
  637.5,
  106.25,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  2,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  8,
  0,
  0,
  0,
  1000,
  100,
  100,
  2,
  1,
  30,
  0.6,
  0.8,
  15,
  2e-05,
  5e-05,
  2000,
  100,
  0,
  100,
  30,
  3,
  50,
  45,
  150,
  30,
  400,
  400,
  "0",
  1000,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  5,
  200,
  10000,
  0,
  0,
  0,
  1,
  0,
  1,
  0,
  0,
  0.1,
  {
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t wheelchair_sh_params = 
{
  0,
  0,
  0,
  0.001534,
  0,
  0,
  "Pioneer",
  0,
  0,
  0.00373,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1.626,
  1,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1,
  "",
  "COM2",
  1,
  1,
  0,
  -418,
  0,
  0,
  "0",
  0,
  360,
  0,
  0,
  2000,
  0,
  0,
  0,
  0,
  4,
  3,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  1,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  300,
  1340,
  0,
  0,
  550,
  680,
  0,
  0,
  0,
  0,
  0,
  1,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  "wheelchair-sh",
  0,
  38400,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  0,
  20,
  1,
  0,
  {
  },
  {
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
    { 0, 0, 0, 0, 0 },
  }
};

RobotParams_t PlayerRobotParams[PLAYER_NUM_ROBOT_TYPES];

void
initialize_robot_params(void)
{
  PlayerRobotParams[0] =  amigo_sh_params;
  PlayerRobotParams[1] =  amigo_params;
  PlayerRobotParams[2] =  arnl_params;
  PlayerRobotParams[3] =  default_arnl_params;
  PlayerRobotParams[4] =  default_sonarnl_params;
  PlayerRobotParams[5] =  p2at_params;
  PlayerRobotParams[6] =  p2at8plus_params;
  PlayerRobotParams[7] =  p2at8_params;
  PlayerRobotParams[8] =  p2ce_params;
  PlayerRobotParams[9] =  p2d8plus_params;
  PlayerRobotParams[10] =  p2d8_params;
  PlayerRobotParams[11] =  p2de_params;
  PlayerRobotParams[12] =  p2df_params;
  PlayerRobotParams[13] =  p2dx_params;
  PlayerRobotParams[14] =  p2it_params;
  PlayerRobotParams[15] =  p2pb_params;
  PlayerRobotParams[16] =  p2pp_params;
  PlayerRobotParams[17] =  p3at_sh_params;
  PlayerRobotParams[18] =  p3at_params;
  PlayerRobotParams[19] =  p3atiw_sh_params;
  PlayerRobotParams[20] =  p3dx_sh_params;
  PlayerRobotParams[21] =  p3dx_params;
  PlayerRobotParams[22] =  patrolbot_sh_params;
  PlayerRobotParams[23] =  peoplebot_sh_params;
  PlayerRobotParams[24] =  perfpbplus_params;
  PlayerRobotParams[25] =  perfpb_params;
  PlayerRobotParams[26] =  pion1m_params;
  PlayerRobotParams[27] =  pion1x_params;
  PlayerRobotParams[28] =  pionat_params;
  PlayerRobotParams[29] =  powerbot_sh_params;
  PlayerRobotParams[30] =  powerbot_params;
  PlayerRobotParams[31] =  psos1m_params;
  PlayerRobotParams[32] =  psos1x_params;
  PlayerRobotParams[33] =  psos43m_params;
  PlayerRobotParams[34] =  sonarnl_params;
  PlayerRobotParams[35] =  wheelchair_sh_params;
}
